自動運転レースにおける実世界テストのための安定性制御
Stability Control for Real World Testing in Autonomous Racing
自動運転レースで車両が限界性能に達した際の安定性を保つため、電子安定性制御、スリップ制御、カウンターステアシステムからなる統合安定性制御システムを提案し、実車実験で有効性を検証した。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
※ AIが要旨から生成した要約です。正確性は原文をご確認ください。
著者: Phillip Pitschi, Simon Sagmeister, Frederik Werner, Markus Lienkamp, Boris Lohmann
分類: cs.RO, eess.SY
原文アブストラクト
Controlling an autonomous vehicle at the limits of handling is a challenging task. Due to external influences, such as road conditions or weather, a vehicle can easily become unstable. Since most control algorithms assume stable vehicle behavior, they might fail in these situations. Especially when operating expensive vehicles without a safety driver on board, as in autonomous racing, this poses a significant challenge. To enable safe operation at the vehicle's dynamic limits, we present a comprehensive stability control system that safeguards motion control algorithms in autonomous driving. The proposed system consists of an electronic stability control (ESC), a slip control (SC), and a countersteer system (CS), which collectively adapt steering and brake commands from the motion controller to maintain vehicle stability. We validate our approach through both simulation and experiments on a real-world, full-scale vehicle. The results show that the stability control system maintains vehicle stability in critical situations and extends the operational feasible region. To simplify integration, we provide an open-source implementation at github.com/TUMFTM/tam-stability-control.